Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : /*
      17             :   Mount driver backend class for serial drivers
      18             :   Mounts using custom serial protocols should be derived from this class
      19             :  */
      20             : #pragma once
      21             : 
      22             : #include "AP_Mount_config.h"
      23             : 
      24             : #if HAL_MOUNT_ENABLED
      25             : 
      26             : #include "AP_Mount_Backend.h"
      27             : 
      28             : class AP_Mount_Backend_Serial : public AP_Mount_Backend
      29             : {
      30             : public:
      31             :     // Constructor
      32           4 :     AP_Mount_Backend_Serial(class AP_Mount &frontend, class AP_Mount_Params &params, uint8_t instance, uint8_t serial_instance) :
      33             :         AP_Mount_Backend(frontend, params, instance),
      34           4 :         _serial_instance(serial_instance)
      35           4 :     {}
      36             : 
      37             :     // perform any required initialisation for this instance
      38             :     void init() override;
      39             : 
      40             : protected:
      41             : 
      42             :     // internal variables
      43             :     AP_HAL::UARTDriver *_uart;      // uart connected to gimbal
      44             :     uint8_t _serial_instance;       // this instance's serial instance number
      45             :     bool _initialised;              // true if uart has been initialised
      46             : };
      47             : 
      48             : #endif // HAL_MOUNT_ENABLED